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检索条件"主题词=Computer algorithms"

共 3464 条记录，以下是3351-3360 订阅

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Non-Equilibrium Transient Trajectory Shaping Control via a Three-Stage Switching Method for a Class of Nonlinear Systems

Non-Equilibrium Transient Trajectory Shaping Control via a T...

引用

2010 49th IEEE Conference on Decision and Control

作者： Fengjun Yan Junmin Wang Department of Mechanical and Aerospace Engineering The Ohio State University Columbus Ohio 43210

ISBN: (纸本)9781424477456

This paper presents a three-stage switching control method to deal with the non-equilibrium transient trajectory shaping (NETTS) control problem for a class of nonlinear systems. Through this method, the system tracking error non-equilibrium transient trajectory can be effectively shaped by constant boundaries and two pre-designed, exponentially-converging bounds. The tracking error is handled by a Barrier Lyapunov Function (BLF) in the first stage. Once the derivative of the tracking error reaches a desired negative value, the control law is switched into stage 2 where a trajectory shaping method is utilized by changing the coordinates and the trajectory of tracking error is bounded by two pre-designed, exponentially-converging boundaries. After the tracking error converging into a sufficiently small region around zero, the control law is switched to the BLF based method again for constraining the transient trajectory in the third stage. A numerical example is utilized to demonstrate the performance of the proposed three-stage NETTS switching control algorithm.

关键词： trajectory follow error control law computer algorithms switching Control Methods

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Adaptive Glide Slope Control for Autonomous Airdrop Systems

Adaptive Glide Slope Control for Autonomous Airdrop Systems

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American Control Conference

作者： Michael Ward Mark Costello Department of Aerospace Engineering Georgia Institute of Technology Atlanta GA

ISBN: (纸本)9781457710957

Airdrop systems provide a unique capability of delivering large payloads to undeveloped and inaccessible locations. Guided airdrop systems based on steerable, ram-air parafoils have been developed with the goal of improving the precision and accuracy of air-dropped payload delivery. In practice, the gliding ability of the ram-air canopies can actually create major problems for airdrop systems by making them more susceptible to winds and allowing them to achieve far greater miss distances than were previously possible. Research and development work on guided airdrop systems has focused primarily on improving the guidance algorithm. By comparison, the navigation and control algorithms have changed little since the initial guided systems were developed. Furthermore, the control mechanisms have not changed since the invention of the ram-air canopy in the 1960's. This work seeks an improvement in landing accuracy over current state of the art airdrop systems through the incorporation of advanced control algorithms and novel control mechanisms. The key concepts utilized are system identification in real-time during each flight and glide slope control through in-flight incidence angle variation coupled with symmetric trailing edge brake deflection. Simulation and flight test results demonstrate a factor of two improvement in landing accuracy with the use of glide slope control. Simulation results also demonstrate that the adaptation of internal models with in-flight system identification can dramatically improve landing accuracy in situations where there is significant uncertainty in the system flight characteristics.

关键词： Glide slope computer algorithms System identification cage set FLIGHT TESTS control mechanism Inventions Payload

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Compliant Attitude Control and Stepping Strategy for Balance Recovery with the Humanoid COMAN

Compliant Attitude Control and Stepping Strategy for Balance...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Nicolas Perrin Nikolaos Tsagarakis Darwin G. Caldwell department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 16163 Genova

ISBN: (纸本)9781467363563

In this paper we describe an approach for humanoid robot balance recovery that combines a novel attitude control algorithm adding compliance to the robot's behavior and increasing the smoothness of its motion, and an omnidirectional stepping strategy that can trigger one or two steps based on a measured disturbance vector. The proposed method is validated through experiments with the inherently compliant humanoid COMAN.

关键词： attitude control Humanoid stepping computer algorithms

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A Dual Voltage Control Strategy for Single-Phase PWM Converters with Power Decoupling Function

A Dual Voltage Control Strategy for Single-Phase PWM Convert...

引用

IEEE Energy Conversion Congress and Exposition

作者： Yi Tang Zian Qin Frede Blaabjerg Poh Chiang Loh Department of Energy Technology Aalborg University Aalborg East Denmark

ISBN: (纸本)9781479957774

The inherent double line ripple power in single-phase systems is adverse to the converter performance, e.g. limited lifetime due to the requirement of large electrolytic capacitors and low voltage control bandwidth due to harmonic disturbance. In this paper, an active converter topology based on a symmetrical half bridge circuit is proposed to decouple the ripple power so that balanced instantaneous power flow is assured between source and load, and the required dc-link capacitance can be dramatically reduced. For proper closed-loop regulation, the small signal modeling of the proposed system is presented, and a dual voltage control strategy is then proposed, which comprises one voltage loop implemented in the synchronous reference frame for active power balancing, and another one implemented in the harmonic reference frame for ripple power compensation. Special attention is given to the bandwidth of voltage control loop because the variation of dc-link voltage should be kept within an acceptable range during load transients. This is particularly important for systems with reduced dc-link capacitance because they are of lower energy capacity and very sensitive to step load changes. Simulation results and experimental results are presented to show the effectiveness of the proposed circuit and control algorithm.

关键词： Voltage regulation REFERENCE FRAMES DC link harmonic interference synchronous reference frame energy capacity power compensation LOAD ripples PWM power convertors DECOUPLING Bandwidth computer algorithms

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Tracking Control of a Pneumatic Muscle Actuator Using one Servovalve

Tracking Control of a Pneumatic Muscle Actuator Using one Se...

引用

American Control Conference

作者： S. V. Krichel O. Sawodny A. Hildebrandt Institute of System Dynamics University of Stuttgart D-70569 Stuttgart Germany Festo AG & Co. KG Research Mechatronics D-73734 Esslingen Germany

ISBN: (纸本)9781424474264

In this article, a model-based tracking control of a pneumatic muscle actuator using only one 5/3 proportional directional valve is investigated. Pneumatic muscles are difficult to control due to their highly nonlinear system dynamics and hysteresis effects, but they offer advantages such as high power/weight ratio, low costs, easy maintenance and flexibility. The actuator consists of two muscles moving a mass horizontally fixed on a linear guide rail. The challenge is to control those two muscles with only one 5/3 proportional directional control valve. Based on the idea of a cascaded control structure a nonlinear model-based control algorithm is computed. The inner loop control is implemented as a force controller added by a force disturbance observer to estimate unmodeled muscles forces. A position control in the outer loop is added and implemented as a linear tracking controller. The implemented control structure shows good follow-up error and stationary precision in measurements. The shown control approach contributes to an improved path control performance of pneumatic muscle actuators.

关键词： tracking control muscles Pneumatic actuators SERVO VALVE Pneumatic actuators Position control Control Architecture computer algorithms

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Comparison of Li-ion battery degradation models for system design and control algorithm development

Comparison of Li-ion battery degradation models for system d...

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American Control Conference

作者： Xing Jin Ashish P. Vora Vaidehi Hoshing Tridib Saha Gregory M. Shaver Oleg Wasynczuk Subbarao Varigonda Department of Mechanical Engineering Purdue University Department of Electrical and Computer Engineering Purdue University Cummins Inc.

ISBN: (纸本)9781509045839

Within electrified vehicle powertrains, lithium-ion battery performance degrades with aging and usage, resulting in a loss in both energy and power capacity. As a result, models used for system design and control algorithm development would ideally capture the impact of those efforts on battery capacity degradation, be computationally efficient, and simple enough to be used for algorithm development. This paper provides an assessment of the state-of-the-art in lithium-ion battery degradation models, including accuracy, computational complexity, and amenability to control algorithm development. Various aging and degradation models have been studied in the literature, including physically-based electrochemical models, semi-empirical models, and empirical models. Some of these models have been validated with experimental data;however, comparisons of pre-existing degradation models across multiple experimental data sets have not been previously published. Three degradation models, a 1-d electrochemical model (AutoLion ST, or ALST), a semi-empirical model (from the National Renewable Energy Laboratory) and an empirical model (published in the literature), are compared against three published experimental data sets for a 2.3-Ah commercial graphite/LiFePO_4 cell. The results show that the physically-based model is best able to capture results across all three representative data sets with an error less than 10 %, but is 24× slower than the empirical model, and 4000× slower than the semi-empirical model, making it unsuitable for powertrain system design and model-based algorithm development. Despite being computationally efficient, the semi-empirical and empirical models, when used under conditions that lie outside the calibration data set, exhibit up to 60% error in capacity loss prediction. Such models require expensive experimental data collection to recalibrate for every new application. Thus, in the author's opinion, there exists a need for a physically-based model tha

关键词： computer algorithms lithium ion battery empirical models NATIONAL RENEWABLE ENERGY LABORATORY MODEL MAKING System design power capacity Experimental data Dataset deterioration

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Model Predictive Control of Energy Systems with Hybrid Storage

Model Predictive Control of Energy Systems with Hybrid Stora...

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IEEE Power and Energy Society General Meeting

作者： Felix Rafael Segundo Sevilla Chan Park Valerijs Knazkins Petr Korba Power Systems and Smart Grid Lab at the Zurich University of Applied Science ZHAW

ISBN: (纸本)9781509041695

In this work an algorithm to control the power flow of an electric power system with two integrated energy storage systems is investigated. The power system under consideration consists of a conventional distribution feeder that supplies the power to satisfy the customers' demand, a set of photovoltaic (PV) panels that also contribute to the power generation, one unit of Lithium-Ion battery storage for the intra-day use and a combined power-to-gas (PtG) and gas-to-power installation that converts the power excess in the summertime into hydrogen and injects power back to the system in the wintertime. The proposed control algorithm is based on model predictive control tailored for the energy system under investigation. To demonstrate the performance of the proposed control, a set of synthetic PV and demand profiles representing future conditions in Switzerland were created and used as input data to the system model. The synthesized generation and consumption data span a whole year of operation. A number of detailed simulations performed in the framework of the study reported in this paper demonstrate the effectiveness of the proposed control algorithm and provided invaluable insights into the optimum operation of the complex integrated power system.

关键词： Energy storage systems Electric power system Optimal power flow Model predictive control Self-consumption Power-to-gas power systems optimal load flow Model predictive control Predictive control ENERGY SYSTEMS distributed model predictive control nonlinear model predictive control Cache Memory System energy storage Energy storage systems computer algorithms self-consumption optimum operation Power flow Energy sources

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An Adaptive Iterative Learning Control Scheme for Reducing CO_2 Emission in Gasoline Engines

An Adaptive Iterative Learning Control Scheme for Reducing C...

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European Control Conference

作者： Amin Rezaeizadeh Roy S. Smith Automatic Control Laboratory ETH Zurich

ISBN: (纸本)9781467371605

This paper proposes a control algorithm for a Toyota gasoline engine problem that is addressed in a student competition format. The control objective is to minimize the fuel consumption while avoiding specified dangerous situations. The approach develops a feed-forward control based on an adaptive Iterative Learning Control. In this method, the plant is run several times and the controller iteratively updates the actuation inputs in order to generate the desired reference torque profile. The algorithm converges after approximately 10 iterations providing the corresponding locally optimal control trajectories.

关键词： gasoline engine computer algorithms FEEDFORWARD CONTROL Fuel consumption Activation Self tuning Control trajectory Carbon Dioxide

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Resonant Augmentation Circuits for a Buck Converter Achieving Minimum-Time Voltage Recovery from Load Transients

Resonant Augmentation Circuits for a Buck Converter Achievin...

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IEEE Energy Conversion Congress and Exposition

作者： Zhenyu Shan Siew-Chong Tan Chi K. Tse Juri Jatskevich Department of Electrical and Computer Engineering The University of British Columbia Vancouver BC Canada Department of Electrical and Electronic Engineering The University of Hong Kong Pokfulam Hong Kong Department of Electronic and Information Engineering Hong Kong Polytechnic University Kowloon Hong Kong

ISBN: (纸本)9781479957774

This paper presents the use of a resonant circuit for fast voltage recovery of power supplies under large-signal load transients. Previous works have shown that an augmentation circuit (or auxiliary circuit) for voltage recovery may be used to improve the dynamic response, while the main converter is operating for current recovery with load current feedforward control. A compact, low cost and magnetic-coreless topology with a simple control algorithm to achieve an augmentation circuit is presented. In the prototype, the inductors are realized using printed copper wires. The control algorithm is realized by a low cost and low density logic device. Simulation and experimental results validate the feasibility and effectiveness of the circuit.

关键词： voltage recovery computer algorithms step-down converter Resonant circuits auxiliary circuit Electric Power Source Dynamic response

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An Application of IMPACT Structure to Bilateral Teleoperations

An Application of IMPACT Structure to Bilateral Teleoperatio...

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2010 49th IEEE Conference on Decision and Control

作者： Alper Denasi Dragan Kostic Henk Nijmeijer Dynamics and Control Group Department of Mechanical Engineering Technische Universiteit Eindhoven 5600 MB Eindhoven The Netherlands

ISBN: (纸本)9781424477456

Time-delays typically cause stability and performance problems in teleoperation systems. As a remedy for such problems in position-error based bilateral teleoperations, a control algorithm is proposed which is derived as a robust modification of a Smith predictor structure for time-delay compensation. The considered modification is based on an application of the Internal Model Principle And Control Together (IMPACT). The resulting algorithm allows rejection of disturbances from a known class, that act at the output of the slave. Linear dynamics are considered for both master and slave manipulators and it is assumed that the time-delay due to communication is constant and known upto a certain degree of accuracy. The algorithm is illustrated in simulations.

关键词： Slaves computer algorithms location error Internal model principle Smith predictors Rejection (Psychology) Communication Research

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